diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index ae8d69827..409b57d63 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -967,8 +967,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - - if ( (_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + /* Check if we should start flaring with a vertical and a + * horizontal limit (with some tolerance) */ + if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) && + (wp_distance < landingslope.flare_length() + 5.0f)) || + land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ // /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */ |